A skill-based motion planning framework for humanoids. - Marcelo Kallmann; Yazhou Huang; Robert Backman (ICRA, 2010)

Modeling Physically Simulated Characters with Motion Networks. - Robert Backman; Marcelo Kallmann (MIG, 2012)

Designing controllers for physics-based characters with motion networks. - Robert Backman; Marcelo Kallmann (Comput. Animat. Virtual Worlds, 2013)